Jump to the Architectural Overview Menu page.
Jump to the Home page.

An Overview of the ATLANTIS Architecture

Gat wanted to build an architecture for controlling autonomous mobile robots. This type of application requires many abilities of an architecture: planning, reactivity, perception, etc. Current deliberative architectures could provide the planning. They are, however, inherently too slow for this domain. Reactive architectures, such as those constructed by Brooks are known to be very reactivity and tolerant to faulty perception. However, they have no planning ability and are very inflexible. From this, it is quite apparent that many of the strengths and weaknesses of the respective system are complementary. This realization motivated the merging of these two techniques into the ATLANTIS architecture.

Characteristics

Sources and References

Gat, E., "Integrating planning and reacting in a heterogeneous asynchronous architecture for mobile robots," SIGART Bulletin 2, 1991, pp. 70-4.